Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: Move heli logging down into motors

This commit is contained in:
Gone4Dirt 2024-08-06 16:00:26 +01:00 committed by Bill Geyer
parent 7271a469fd
commit aabaa0939a
3 changed files with 2 additions and 44 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/Copter.cpp
View File

@ -578,7 +578,8 @@ void Copter::ten_hz_logging_loop()
if (!should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_EKF_POS();
}
if (should_log(MASK_LOG_MOTBATT)) {
if ((FRAME_CONFIG == HELI_FRAME) || should_log(MASK_LOG_MOTBATT)) {
// always write motors log if we are a heli
motors->Log_Write();
}
if (should_log(MASK_LOG_RCIN)) {
@ -607,9 +608,6 @@ void Copter::ten_hz_logging_loop()
g2.beacon.log();
#endif
}
#if FRAME_CONFIG == HELI_FRAME
Log_Write_Heli();
#endif
#if AP_WINCH_ENABLED
if (should_log(MASK_LOG_ANY)) {
g2.winch.write_log();

3
ArduCopter/Copter.h
View File

@ -882,9 +882,6 @@ private:
void Log_Write_Data(LogDataID id, float value);
void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max);
void Log_Video_Stabilisation();
#if FRAME_CONFIG == HELI_FRAME
void Log_Write_Heli(void);
#endif
void Log_Write_Guided_Position_Target(ModeGuided::SubMode submode, const Vector3f& pos_target, bool terrain_alt, const Vector3f& vel_target, const Vector3f& accel_target);
void Log_Write_Guided_Attitude_Target(ModeGuided::SubMode target_type, float roll, float pitch, float yaw, const Vector3f &ang_vel, float thrust, float climb_rate);
void Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out);

37
ArduCopter/Log.cpp
View File

@ -309,31 +309,6 @@ void Copter::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitu
#endif
}
#if FRAME_CONFIG == HELI_FRAME
struct PACKED log_Heli {
LOG_PACKET_HEADER;
uint64_t time_us;
float desired_rotor_speed;
float main_rotor_speed;
float governor_output;
float control_output;
};
// Write an helicopter packet
void Copter::Log_Write_Heli()
{
struct log_Heli pkt_heli = {
LOG_PACKET_HEADER_INIT(LOG_HELI_MSG),
time_us : AP_HAL::micros64(),
desired_rotor_speed : motors->get_desired_rotor_speed(),
main_rotor_speed : motors->get_main_rotor_speed(),
governor_output : motors->get_governor_output(),
control_output : motors->get_control_output(),
};
logger.WriteBlock(&pkt_heli, sizeof(pkt_heli));
}
#endif
// guided position target logging
struct PACKED log_Guided_Position_Target {
LOG_PACKET_HEADER;
@ -489,18 +464,6 @@ const struct LogStructure Copter::log_structure[] = {
"DU32", "QBI", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--" },
// @LoggerMessage: HELI
// @Description: Helicopter related messages
// @Field: TimeUS: Time since system startup
// @Field: DRRPM: Desired rotor speed
// @Field: ERRPM: Estimated rotor speed
// @Field: Gov: Governor Output
// @Field: Throt: Throttle output
#if FRAME_CONFIG == HELI_FRAME
{ LOG_HELI_MSG, sizeof(log_Heli),
"HELI", "Qffff", "TimeUS,DRRPM,ERRPM,Gov,Throt", "s----", "F----" , true },
#endif
// @LoggerMessage: SIDD
// @Description: System ID data